Design And Control Simulation Of Water Surface Monitoring System For Unmanned Submersible

The research object of this article is a cable type unmanned underwater vehicle monitoring system.The current research of the monitoring system is in allusion to a specific type underwater vehicle,and these method's applicability are not good enough.In this article,first of all,the function of the monitoring system is analyzed-the system monitoring function,the underwater movement function and underwater equipment,water control,emergency processing functions,emergency treatment and the device control function are described in detail.In order to increase the monitoring system's generality and expansibility,Modular classification is carried out according to its function,which is divided into five categories module,real-time display module,data record module,emergency module,control system module and tethered system module.According to the emergency module by processing of submersible emergency state,designed eight kinds of emergency plans,and the trigger condition of each emergency mode and the corresponding contingency plans are described in detail,the eight kinds of emergency plan considering the hoisted decouple put such as sling into the water from the submersible dives,cruise and buoyancy that may occur during an emergency,and according to the characteristics of the corresponding working conditions and the possibility of unexpected circumstances,design the corresponding contingency plans,the emergency plan will ensure submersible in the case of an emergency to ensure the security of the system to the greatest extent and automatically rise to the surface.communication protocol is the basis of the Submersible communicate with the water monitoring system,this paper designs a hexadecimal number transmission of the communication protocol,and by using Visual Basic 6.0 software has carried on the Visual design to the water monitoring system,and attach the part of the core function of the code in detail,for reference by other designers.Submersible water monitoring system main interface mainly display sub main sensor data and the surface of sling the data in the system,and through the different color show the height,leakage alarm,such as the insulation detection of different state,six kinds of interface design,include the database,data playback,GPS data display,such a friendly powerful surface monitoring and control system for the whole design of the control system of underwater vehicle to provide great convenience and help,the flexibility to increase or decrease the corresponding function module,cuts to design and programming,and the surface monitoring and control system also provides a submersible soft debugging,in the water when the console is not fully completed,can use the system to complete the submersible land software debugging.In order to achieve the submersible deep directional function,this paper on the basis of predecessors' research submersible six degrees of freedom of kinematics model is established,using attitude Angle conversion,set up carrier coordinate and geodetic coordinate conversion between relations;A six-degree-of-freedom dynamics model is established by considering the submersible as rigid body and fluid without rotation.Kinematics model and dynamics model is representation of submersible under the action of force result in a change to the location of the relationship between the change of the velocity,attitude,the two models is the foundation of the submersible motor control simulation.For cable type unmanned submersible appearance characteristics and job characteristics,to a simplified six degrees of freedom equation obtained after the reduction of four degrees of freedom model,and using the PID controller and the MATLAB software to submersible deep directional function are simulated,although the structure of the PID controller is very simple,but the control effect in the submersible is in the external disturbance force can still meet the control requirements,under the condition of the meaning of the MATLAB simulation is for submersible water control experiments provide a set of relatively reliable parameter,this set of control parameters at least can guarantee the control effect of submersible divergence or significant shocks not happen.The main result of this paper is to design a kind of strong commonality,easy to upgrade and modular flexible change of the water monitoring system,not just for one type submersible,but with a broad categories submersible-using umbilical cord cable communications;with a fiber optic micro cable crane,water(hoist)cloth and through the console cable with the monitoring and control system to control the unmanned submersible.